OpenRaiser/Intern-Atlas huggingface dataset:
Human-Like Geometric Abstraction in Large Pre-trained Neural Networks
Venue: arXiv cs.AI 2024
Year: 2024

Humans possess a remarkable capacity to recognize and manipulate abstract structure, which is especially apparent in the domain of geometry. Recent research in cognitive science suggests neural networks do not share this capacity, concluding that human geometric abilities come from discrete symbolic structure in human mental representations. However, progress in artificial intelligence (AI) suggests that neural networks begin to demonstrate more human-like reasoning after scaling up standard architectures in both model size and amount of training data. In this study, we revisit empirical results in cognitive science on geometric visual processing and identify three key biases in geometric visual processing: a sensitivity towards complexity, regularity, and the perception of parts and relations. We test tasks from the literature that probe these biases in humans and find that large pre-trained neural network models used in AI demonstrate more human-like abstract geometric processing.
Explaining Autonomy: Enhancing Human-Robot Interaction through Explanation Generation with Large Language Models
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a system designed to generate explanations for the actions performed by an autonomous robot in Human-Robot Interaction (HRI). Explainability in robotics, encapsulated within the concept of an eXplainable Autonomous Robot (XAR), is a growing research area. The work described in this paper aims to take advantage of the capabilities of Large Language Models (LLMs) in performing natural language processing tasks. This study focuses on the possibility of generating explanations using such models in combination with a Retrieval Augmented Generation (RAG) method to interpret data gathered from the logs of autonomous systems. In addition, this work also presents a formalization of the proposed explanation system. It has been evaluated through a navigation test from the European Robotics League (ERL), a Europe-wide social robotics competition. Regarding the obtained results, a validation questionnaire has been conducted to measure the quality of the explanations from the perspective of technical users. The results obtained during the experiment highlight the potential utility of LLMs in achieving explanatory capabilities in robots.
Production-inventory games and pmas games: characterizations of the Owen point
Venue: arXiv cs.GT 2024
Year: 2024

Production-inventory games were introduced in Guardiola et al. (2007) as a new class of totally balanced combinatorial optimization games. From among all core-allocations, the Owen point was proposed as a specifically appealing solution. In this paper we study some relationships of the class of production-inventory games and other classes of new and known games. In addition, we propose three axiomatic characterizations of the Owen point. We use eight axioms for these characterizations, among those, inessentiality and additivity of players' demands are used for the first time in this paper.
Can Generative Agents Predict Emotion?
Venue: arXiv cs.AI 2024
Year: 2024

Large Language Models (LLMs) have demonstrated a number of human-like abilities, however the empathic understanding and emotional state of LLMs is yet to be aligned to that of humans. In this work, we investigate how the emotional state of generative LLM agents evolves as they perceive new events, introducing a novel architecture in which new experiences are compared to past memories. Through this comparison, the agent gains the ability to understand new experiences in context, which according to the appraisal theory of emotion is vital in emotion creation. First, the agent perceives new experiences as time series text data. After perceiving each new input, the agent generates a summary of past relevant memories, referred to as the norm, and compares the new experience to this norm. Through this comparison we can analyse how the agent reacts to the new experience in context. The PANAS, a test of affect, is administered to the agent, capturing the emotional state of the agent after the perception of the new event. Finally, the new experience is then added to the agents memory to be used in the creation of future norms. By creating multiple experiences in natural language from emotionally charged situations, we test the proposed architecture on a wide range of scenarios. The mixed results suggests that introducing context can occasionally improve the emotional alignment of the agent, but further study and comparison with human evaluators is necessary. We hope that this paper is another step towards the alignment of generative agents.
Road Surface Defect Detection -- From Image-based to Non-image-based: A Survey
Venue: arXiv cs.CV 2024
Year: 2024

Ensuring traffic safety is crucial, which necessitates the detection and prevention of road surface defects. As a result, there has been a growing interest in the literature on the subject, leading to the development of various road surface defect detection methods. The methods for detecting road defects can be categorised in various ways depending on the input data types or training methodologies. The predominant approach involves image-based methods, which analyse pixel intensities and surface textures to identify defects. Despite their popularity, image-based methods share the distinct limitation of vulnerability to weather and lighting changes. To address this issue, researchers have explored the use of additional sensors, such as laser scanners or LiDARs, providing explicit depth information to enable the detection of defects in terms of scale and volume. However, the exploration of data beyond images has not been sufficiently investigated. In this survey paper, we provide a comprehensive review of road surface defect detection studies, categorising them based on input data types and methodologies used. Additionally, we review recently proposed non-image-based methods and discuss several challenges and open problems associated with these techniques.
ConsistI2V: Enhancing Visual Consistency for Image-to-Video Generation
Venue: arXiv cs.CV 2024
Year: 2024

Image-to-video (I2V) generation aims to use the initial frame (alongside a text prompt) to create a video sequence. A grand challenge in I2V generation is to maintain visual consistency throughout the video: existing methods often struggle to preserve the integrity of the subject, background, and style from the first frame, as well as ensure a fluid and logical progression within the video narrative. To mitigate these issues, we propose ConsistI2V, a diffusion-based method to enhance visual consistency for I2V generation. Specifically, we introduce (1) spatiotemporal attention over the first frame to maintain spatial and motion consistency, (2) noise initialization from the low-frequency band of the first frame to enhance layout consistency. These two approaches enable ConsistI2V to generate highly consistent videos. We also extend the proposed approaches to show their potential to improve consistency in auto-regressive long video generation and camera motion control. To verify the effectiveness of our method, we propose I2V-Bench, a comprehensive evaluation benchmark for I2V generation. Our automatic and human evaluation results demonstrate the superiority of ConsistI2V over existing methods.
p-additive games: a class of totally balanced games arising from inventory situations with temporary discounts
Venue: arXiv cs.GT 2024
Year: 2024

We introduce a new class of totally balanced cooperative TU games, namely p -additive games. It is inspired by the class of inventory games that arises from inventory situations with temporary discounts (Toledo, 2002) and contains the class of inventory cost games (Meca et al. 2003). It is shown that every p-additive game and its corresponding subgames have a nonempty core. We also focus on studying the character concave or convex and monotone of p-additive games. In addition, the modified SOC-rule is proposed as a solution for p-additive games. This solution is suitable for p-additive games since it is a core-allocation which can be reached through a population monotonic allocation scheme. Moreover, two characterizations of the modified SOC-rule are provided.
Interpretable domain knowledge enhanced machine learning framework on axial capacity prediction of circular CFST columns
Venue: arXiv cs.CE 2024
Year: 2024

This study introduces a novel machine learning framework, integrating domain knowledge, to accurately predict the bearing capacity of CFSTs, bridging the gap between traditional engineering and machine learning techniques. Utilizing a comprehensive database of 2621 experimental data points on CFSTs, we developed a Domain Knowledge Enhanced Neural Network (DKNN) model. This model incorporates advanced feature engineering techniques, including Pearson correlation, XGBoost, and Random tree algorithms. The DKNN model demonstrated a marked improvement in prediction accuracy, with a Mean Absolute Percentage Error (MAPE) reduction of over 50% compared to existing models. Its robustness was confirmed through extensive performance assessments, maintaining high accuracy even in noisy environments. Furthermore, sensitivity and SHAP analysis were conducted to assess the contribution of each effective parameter to axial load capacity and propose design recommendations for the diameter of cross-section, material strength range and material combination. This research advances CFST predictive modelling, showcasing the potential of integrating machine learning with domain expertise in structural engineering. The DKNN model sets a new benchmark for accuracy and reliability in the field.
Towards Fair, Robust and Efficient Client Contribution Evaluation in Federated Learning
Venue: arXiv cs.LG 2024
Year: 2024

The performance of clients in Federated Learning (FL) can vary due to various reasons. Assessing the contributions of each client is crucial for client selection and compensation. It is challenging because clients often have non-independent and identically distributed (non-iid) data, leading to potentially noisy or divergent updates. The risk of malicious clients amplifies the challenge especially when there's no access to clients' local data or a benchmark root dataset. In this paper, we introduce a novel method called Fair, Robust, and Efficient Client Assessment (FRECA) for quantifying client contributions in FL. FRECA employs a framework called FedTruth to estimate the global model's ground truth update, balancing contributions from all clients while filtering out impacts from malicious ones. This approach is robust against Byzantine attacks and incorporates a Byzantine-resilient aggregation algorithm. FRECA is also efficient, as it operates solely on local model updates and requires no validation operations or datasets. Our experimental results show that FRECA can accurately and efficiently quantify client contributions in a robust manner.
Exploring higher-order neural network node interactions with total correlation
Venue: arXiv cs.LG 2024
Year: 2024

In domains such as ecological systems, collaborations, and the human brain the variables interact in complex ways. Yet accurately characterizing higher-order variable interactions (HOIs) is a difficult problem that is further exacerbated when the HOIs change across the data. To solve this problem we propose a new method called Local Correlation Explanation (CorEx) to capture HOIs at a local scale by first clustering data points based on their proximity on the data manifold. We then use a multivariate version of the mutual information called the total correlation, to construct a latent factor representation of the data within each cluster to learn the local HOIs. We use Local CorEx to explore HOIs in synthetic and real world data to extract hidden insights about the data structure. Lastly, we demonstrate Local CorEx's suitability to explore and interpret the inner workings of trained neural networks.
Context-Aware Spectrum Coexistence of Terrestrial Beyond 5G Networks in Satellite Bands
Venue: arXiv cs.NI 2024
Year: 2024

Spectrum sharing between terrestrial 5G and incumbent networks in the satellite bands presents a promising avenue to satisfy the ever-increasing bandwidth demand of the next-generation wireless networks. However, protecting incumbent operations from harmful interference poses a fundamental challenge in accommodating terrestrial broadband cellular networks in the satellite bands. State-of-the-art spectrum-sharing policies usually consider several worst-case assumptions and ignore site-specific contextual factors in making spectrum-sharing decisions, and thus, often results in under-utilization of the shared band for the secondary licensees. To address such limitations, this paper introduces CAT3S (Context-Aware Terrestrial-Satellite Spectrum Sharing) framework that empowers the coexisting terrestrial 5G network to maximize utilization of the shared satellite band without creating harmful interference to the incumbent links by exploiting the contextual factors. CAT3S consists of the following two components: (i) context-acquisition unit to collect and process essential contextual information for spectrum sharing and (ii) context-aware base station (BS) control unit to optimize the set of operational BSs and their operation parameters (i.e., transmit power and active beams per sector). To evaluate the performance of the CAT3S, a realistic spectrum coexistence case study over the 12 GHz band is considered. Experiment results demonstrate that the proposed CAT3S achieves notably higher spectrum utilization than state-of-the-art spectrum-sharing policies in different weather contexts.
IoT Network Traffic Analysis with Deep Learning
Venue: arXiv cs.LG 2024
Year: 2024

As IoT networks become more complex and generate massive amounts of dynamic data, it is difficult to monitor and detect anomalies using traditional statistical methods and machine learning methods. Deep learning algorithms can process and learn from large amounts of data and can also be trained using unsupervised learning techniques, meaning they don't require labelled data to detect anomalies. This makes it possible to detect new and unknown anomalies that may not have been detected before. Also, deep learning algorithms can be automated and highly scalable; thereby, they can run continuously in the backend and make it achievable to monitor large IoT networks instantly. In this work, we conduct a literature review on the most recent works using deep learning techniques and implement a model using ensemble techniques on the KDD Cup 99 dataset. The experimental results showcase the impressive performance of our deep anomaly detection model, achieving an accuracy of over 98\%.
A Deep Reinforcement Learning Approach for Adaptive Traffic Routing in Next-gen Networks
Venue: arXiv cs.NI 2024
Year: 2024

Next-gen networks require significant evolution of management to enable automation and adaptively adjust network configuration based on traffic dynamics. The advent of software-defined networking (SDN) and programmable switches enables flexibility and programmability. However, traditional techniques that decide traffic policies are usually based on hand-crafted programming optimization and heuristic algorithms. These techniques make non-realistic assumptions, e.g., considering static network load and topology, to obtain tractable solutions, which are inadequate for next-gen networks. In this paper, we design and develop a deep reinforcement learning (DRL) approach for adaptive traffic routing. We design a deep graph convolutional neural network (DGCNN) integrated into the DRL framework to learn the traffic behavior from not only the network topology but also link and node attributes. We adopt the Deep Q-Learning technique to train the DGCNN model in the DRL framework without the need for a labeled training dataset, enabling the framework to quickly adapt to traffic dynamics. The model leverages q-value estimates to select the routing path for every traffic flow request, balancing exploration and exploitation. We perform extensive experiments with various traffic patterns and compare the performance of the proposed approach with the Open Shortest Path First (OSPF) protocol. The experimental results show the effectiveness and adaptiveness of the proposed framework by increasing the network throughput by up to 7.8% and reducing the traffic delay by up to 16.1% compared to OSPF.
FLAGRED -- Fuzzy Logic-based Algorithm Generalizing Risk Estimation for Drones
Venue: arXiv cs.RO 2024
Year: 2024

Accurately estimating risk in real-time is essential for ensuring the safety and efficiency of many applications involving autonomous robot systems. This paper presents a novel, generalizable algorithm for the real-time estimation of risks created by external disturbances on multirotors. Unlike conventional approaches, our method requires no additional sensors, accurate drone models, or large datasets. It employs motor command data in a fuzzy logic system, overcoming barriers to real-world implementation. Inherently adaptable, it utilizes fundamental drone characteristics, making it applicable to diverse drone models. The efficiency of the algorithm has been confirmed through comprehensive real-world testing on various platforms. It proficiently discerned between high and low-risk scenarios resulting from diverse wind disturbances and varying thrust-to-weight ratios. The algorithm surpassed the widely-recognized ArduCopter wind estimation algorithm in performance and demonstrated its capability to promptly detect brief gusts.
MuNES: Multifloor Navigation Including Elevators and Stairs
Venue: arXiv cs.RO 2024
Year: 2024

We propose a scheme called MuNES for single mapping and trajectory planning including elevators and stairs. Optimized multifloor trajectories are important for optimal interfloor movements of robots. However, given two or more options of moving between floors, it is difficult to select the best trajectory because there are no suitable indoor multifloor maps in the existing methods. To solve this problem, MuNES creates a single multifloor map including elevators and stairs by estimating altitude changes based on pressure data. In addition, the proposed method performs floor-based loop detection for faster and more accurate loop closure. The single multifloor map is then voxelized leaving only the parts needed for trajectory planning. An optimal and realistic multifloor trajectory is generated by exploring the voxels using an A* algorithm based on the proposed cost function, which affects realistic factors. We tested this algorithm using data acquired from around a campus and note that a single accurate multifloor map could be created. Furthermore, optimal and realistic multifloor trajectory could be found by selecting the means of motion between floors between elevators and stairs according to factors such as the starting point, ending point, and elevator waiting time. The code and data used in this work are available at https://github.com/donghwijung/MuNES.
NORMY: Non-Uniform History Modeling for Open Retrieval Conversational Question Answering
Venue: arXiv cs.IR 2024
Year: 2024

Open Retrieval Conversational Question Answering (OrConvQA) answers a question given a conversation as context and a document collection. A typical OrConvQA pipeline consists of three modules: a Retriever to retrieve relevant documents from the collection, a Reranker to rerank them given the question and the context, and a Reader to extract an answer span. The conversational turns can provide valuable context to answer the final query. State-of-the-art OrConvQA systems use the same history modeling for all three modules of the pipeline. We hypothesize this as suboptimal. Specifically, we argue that a broader context is needed in the first modules of the pipeline to not miss relevant documents, while a narrower context is needed in the last modules to identify the exact answer span. We propose NORMY, the first unsupervised non-uniform history modeling pipeline which generates the best conversational history for each module. We further propose a novel Retriever for NORMY, which employs keyphrase extraction on the conversation history, and leverages passages retrieved in previous turns as additional context. We also created a new dataset for OrConvQA, by expanding the doc2dial dataset. We implemented various state-of-the-art history modeling techniques and comprehensively evaluated them separately for each module of the pipeline on three datasets: OR-QUAC, our doc2dial extension, and ConvMix. Our extensive experiments show that NORMY outperforms the state-of-the-art in the individual modules and in the end-to-end system.
S-Agents: Self-organizing Agents in Open-ended Environments
Venue: arXiv cs.AI 2024
Year: 2024

Leveraging large language models (LLMs), autonomous agents have significantly improved, gaining the ability to handle a variety of tasks. In open-ended settings, optimizing collaboration for efficiency and effectiveness demands flexible adjustments. Despite this, current research mainly emphasizes fixed, task-oriented workflows and overlooks agent-centric organizational structures. Drawing inspiration from human organizational behavior, we introduce a self-organizing agent system (S-Agents) with a "tree of agents" structure for dynamic workflow, an "hourglass agent architecture" for balancing information priorities, and a "non-obstructive collaboration" method to allow asynchronous task execution among agents. This structure can autonomously coordinate a group of agents, efficiently addressing the challenges of open and dynamic environments without human intervention. Our experiments demonstrate that S-Agents proficiently execute collaborative building tasks and resource collection in the Minecraft environment, validating their effectiveness.
A Psychological Study: Importance of Contrast and Luminance in Color to Grayscale Mapping
Venue: arXiv cs.CV 2024
Year: 2024

Grayscale images are essential in image processing and computer vision tasks. They effectively emphasize luminance and contrast, highlighting important visual features, while also being easily compatible with other algorithms. Moreover, their simplified representation makes them efficient for storage and transmission purposes. While preserving contrast is important for maintaining visual quality, other factors such as preserving information relevant to the specific application or task at hand may be more critical for achieving optimal performance. To evaluate and compare different decolorization algorithms, we designed a psychological experiment. During the experiment, participants were instructed to imagine color images in a hypothetical "colorless world" and select the grayscale image that best resembled their mental visualization. We conducted a comparison between two types of algorithms: (i) perceptual-based simple color space conversion algorithms, and (ii) spatial contrast-based algorithms, including iteration-based methods. Our experimental findings indicate that CIELAB exhibited superior performance on average, providing further evidence for the effectiveness of perception-based decolorization algorithms. On the other hand, the spatial contrast-based algorithms showed relatively poorer performance, possibly due to factors such as DC-offset and artificial contrast generation. However, these algorithms demonstrated shorter selection times. Notably, no single algorithm consistently outperformed the others across all test images. In this paper, we will delve into a comprehensive discussion on the significance of contrast and luminance in color-to-grayscale mapping based on our experimental results and analysis.